Issue of unsupported type with sample code of simple navigation

[ai4ce]

Issue of unsupported type with sample code of simple navigation

[simbaforrest]

Thanks for reporting this. @jshen04 can you take a look (and update the repo accordingly)?

[jshen04]

@anetnna It appears that our code was using an older version of pymunk, but hopefully it is resolved now. Please let me know if you have any other issues.

[anetnna]

@jshen04 Many thanks! The gui is displaying now. I have switched all packages into the version in requirements.txt. Namely,

matplotlib                 3.4.2
numpy                      1.20.3
pygame                     2.0.1
pymunk                     5.5.0
gym                        0.21.0

However, the display seems to have some problems. I could barely see anything in the gui. Is it normal?

[jshen04]

@anetnna Most likely the particle robots are out of the dimensions of the visualizer. Note the visualizer as it is only displays the first quadrant (default width=600, height=500).

When initializing the environment, with the default arguments, the starting location of the particle robots is randomly generated. You are able to fix the starting position by changing the arguments.

fixedStart=False, fixedGoal=True,
fixedStartCoords=None, fixedGoalCoords=(0, 0),
polarStartCoords=True, polarGoalCoords=False,
transformRectStart=(0, 0), transformRectGoal=(0, 0),
xLower=-1000, xUpper=1000, yLower=-1000, yUpper=1000,
radiusLower=450, radiusUpper=550, angleLower=0, angleUpper=2 * math.pi,

Set fixedStart to True, and set polarStartCoords to True if you wish to use polar coordinates and False if you wish to use cartesian coordinates. Then set fixedStartCoords to your desired starting coordinates (in the first quadrant). The particle robots should be visible under this setup.

During training we just wish to randomly initialize the starting position.

[anetnna]

@jshen04 I followed your instruction and saw the output! Thanks a lot!